Robust backstepping controllers for linear motor drives

Paul Ager, Isah A. Jimoh, Geraint Bevan, Ibrahim Kucukdemiral*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Abstract

This work presents robust backstepping controllers to achieve position tracking control of a linear motor drive system with parameter uncertainties, discontinuous frictional force, and unknown external disturbance. First, a robust control scheme is developed to provide asymptotic stability under tracking control of the linear drive system. The assumption of a constant upper bound on the disturbance during the control design can lead to an overly conservative controller. To avoid this, an adaptation mechanism has been proposed to adapt the upper bound based on the current state measurement and the delayed state and input variables. The developed control scheme was shown to provide a global asymptotic stability of the closed-loop linear motor drive system. The control strategies are evaluated by numerical simulation of the linear motor drive. The simulation results show that the use of the adaptive disturbance upper bound adjustment technique results in significant performance improvement.
Original languageEnglish
Title of host publication2024 IEEE Conference on Control Technology and Applications (CCTA)
PublisherIEEE
Number of pages6
ISBN (Electronic)9798350370942
ISBN (Print)9798350370959
DOIs
Publication statusPublished - 11 Sept 2024
EventIEEE Conference on Control Technology and Applications 2024 - Northumbria University, Newcastle upon Tyne, United Kingdom
Duration: 21 Aug 202423 Aug 2024
Conference number: 8
https://ccta2024.ieeecss.org (Link to conference website)

Publication series

NameControl Technology and Applications (CCTA)
PublisherIEEE
ISSN (Print)2768-0762
ISSN (Electronic)2768-0770

Conference

ConferenceIEEE Conference on Control Technology and Applications 2024
Abbreviated titleCCTA 2024
Country/TerritoryUnited Kingdom
CityNewcastle upon Tyne
Period21/08/2423/08/24
Internet address

Keywords

  • robust control
  • linear motor drives
  • backstepping control

ASJC Scopus subject areas

  • Control and Optimization
  • Control and Systems Engineering

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